The group's name was taken from the Bible: Hebrews 1:14, "Are they not all ministering spirits, sent forth to minister for them who shall be heirs of salvation?"
The group was founded by Cliff Roseboro and three other members in 2005. Currently, the group consists of ten musicians and singers along with a sound crew. During the past eight years, the Heirs of Salvation have performed at church functions, anniversaries, funerals, banquets, fair grounds and benefit events all across the Carolinas and Virginia. They have since recorded two CDs: "Walk with the Lord" and "He's Gone."